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ethz-asl / mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS
Apache License 2.0
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No lift-off when the mav_nonlinear_mpc controller is used #22

Open yash508oza opened 6 years ago

yash508oza commented 6 years ago

Hi,

I am on ROS Kinetic, and am trying to use the rotors-simulation package for some of my experiments. Initially, I am using the mav_trajectory_generation package to generate a trajectory through the desired points, and publishing this trajectory_msgs/MultiDOFJointTrajectory message on a topic. Then, I am making use of the mav_control_rw package, and specifically the non linear controller provided in that package to make my hummingbird UAV go through the desired points. But when I run the mav_nonlinear_mpc_sim.launch file, my UAV does not take off, and the rotors keep rotating. When I echo the /hummingbird/command/motor_speed topic, I notice that the motor speeds are around 400, which dosent seem to be sufficient to fly the UAV.

I am not able to resolve this issue. Any help from you guys will be greatly appreciated.

Thanks

fmina commented 6 years ago

Are you setting the correct MAV name to hummingbird? the default name is firefly which is hexacopter.

yash508oza commented 6 years ago

Yes, I am doing that